Apple pencil Sensitivity and Precision is Off when I charge my iPad Pro

My Apple Pencil Second Generation works great. However, whenever I am charging my iPad, the precision, sensitivity, and accuracy of my Apple Pencil is atrocious. I mostly use my iPad for notes, and the Apple Pencil is so inaccurate, it's impossible to take any legible notes. Random strokes that I didn't make appear, instead of a continuous line, it's like little "bubbles" of writing, and everything is completely off.

For background, I am using GoodNotes.

Does anyone know what might be causing this to happen? And what might be a fix? I've already tried resetting the app, disconnecting the Apple Pencil, restarting my iPad, etc. I just often need to have my iPad charging while I take notes because I use it so much throughout the day, as a college student.